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Author SHA1 Message Date
bresch 80cefa3e00 ekf2: migrate uorb events to events interface 2024-03-18 11:18:09 +01:00
92 changed files with 1237 additions and 3135 deletions

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@ -1,14 +0,0 @@
root = true
[*]
insert_final_newline = false
[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
indent_style = tab
tab_width = 8
# Not in the official standard, but supported by many editors
max_line_length = 120
[*.yaml]
indent_style = space
indent_size = 2

2
.gitmodules vendored
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@ -81,5 +81,5 @@
url = https://github.com/PX4/PX4-gazebo-models.git
branch = main
[submodule "boards/modalai/voxl2/libfc-sensor-api"]
path = boards/modalai/voxl2/libfc-sensor-api
path = src/modules/muorb/apps/libfc-sensor-api
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

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@ -30,5 +30,5 @@ exec find boards msg src platforms test \
-path src/lib/cdrstream/cyclonedds -prune -o \
-path src/lib/cdrstream/rosidl -prune -o \
-path src/modules/zenoh/zenoh-pico -prune -o \
-path boards/modalai/voxl2/libfc-sensor-api -prune -o \
-path src/modules/muorb/apps/libfc-sensor-api -prune -o \
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

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@ -126,7 +126,7 @@ class SourceParser(object):
descr = descr[:i] + ' ' + descr[i+1:]
event.description = descr
elif tag == "group":
known_groups = ["calibration", "health", "arming_check", "default"]
known_groups = ["calibration", "health", "arming_check", "default", "ekf2"]
event.group = value.strip()
if not event.group in known_groups:
raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \

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@ -20,7 +20,6 @@ CONFIG_UAVCANNODE_RTK_DATA=y
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y

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@ -11,5 +11,3 @@ param set-default SENS_IMU_CLPNOTI 0
safety_button start
tone_alarm start
ekf2 start

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@ -50,7 +50,6 @@ CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_FLASH_CONFIG_G=y
CONFIG_STM32_NOEXT_VECTORS=y
CONFIG_STM32_TIM8=y
CONFIG_TASK_NAME_SIZE=0

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@ -123,7 +123,6 @@ CONFIG_STM32_ADC1=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FLASH_CONFIG_G=y
CONFIG_STM32_FLASH_PREFETCH=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_I2C1=y

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@ -33,7 +33,7 @@
*
****************************************************************************/
/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
* 256Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000

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@ -33,7 +33,7 @@
*
****************************************************************************/
/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
* 256Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000

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@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y

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@ -4,7 +4,6 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y

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@ -1,34 +0,0 @@
############################################################################
#
# Copyright (c) 2024 ModalAI, Inc. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)

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@ -1,7 +1,7 @@
# Link against the public stub version of the proprietary fc sensor library
target_link_libraries(px4 PRIVATE
${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so
${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so
px4_layer
${module_libraries}
)

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@ -1,9 +1,10 @@
#!/bin/bash
cd boards/modalai/voxl2/libfc-sensor-api
cd src/modules/muorb/apps/libfc-sensor-api
rm -fR build
mkdir build
cd build
CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
make
cd ../../../../..
cd ../../../../../..

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@ -81,6 +81,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
CONFIG_MODULES_PAYLOAD_DELIVERER=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@ -101,7 +102,9 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_REFLECT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

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@ -58,7 +58,6 @@ set(msg_files
CameraCapture.msg
CameraStatus.msg
CameraTrigger.msg
CanInterfaceStatus.msg
CellularStatus.msg
CollisionConstraints.msg
CollisionReport.msg
@ -82,7 +81,6 @@ set(msg_files
EstimatorAidSource3d.msg
EstimatorBias.msg
EstimatorBias3d.msg
EstimatorEventFlags.msg
EstimatorGpsStatus.msg
EstimatorInnovations.msg
EstimatorSelectorStatus.msg

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@ -1,6 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint8 interface
uint64 io_errors
uint64 frames_tx
uint64 frames_rx

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@ -1,37 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# information events
uint32 information_event_changes # number of information event changes
bool gps_checks_passed # 0 - true when gps quality checks are passing passed
bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement
bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement
bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement
bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero
bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position
bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement
bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement
bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates
bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
# warning events
uint32 warning_event_changes # number of warning event changes
bool gps_quality_poor # 0 - true when the gps is failing quality checks
bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period
bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period
bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data

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@ -52,7 +52,6 @@ add_library(px4_platform STATIC
shutdown.cpp
spi.cpp
pab_manifest.c
Serial.cpp
${SRCS}
)
target_link_libraries(px4_platform prebuild_targets px4_work_queue)

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@ -1,138 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/Serial.hpp>
namespace device
{
Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol) :
_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
{
// If no baudrate was specified then set it to a reasonable default value
if (baudrate == 0) {
(void) _impl.setBaudrate(9600);
}
}
Serial::~Serial()
{
}
bool Serial::open()
{
return _impl.open();
}
bool Serial::isOpen() const
{
return _impl.isOpen();
}
bool Serial::close()
{
return _impl.close();
}
ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
{
return _impl.read(buffer, buffer_size);
}
ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
{
return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
}
ssize_t Serial::write(const void *buffer, size_t buffer_size)
{
return _impl.write(buffer, buffer_size);
}
uint32_t Serial::getBaudrate() const
{
return _impl.getBaudrate();
}
bool Serial::setBaudrate(uint32_t baudrate)
{
return _impl.setBaudrate(baudrate);
}
ByteSize Serial::getBytesize() const
{
return _impl.getBytesize();
}
bool Serial::setBytesize(ByteSize bytesize)
{
return _impl.setBytesize(bytesize);
}
Parity Serial::getParity() const
{
return _impl.getParity();
}
bool Serial::setParity(Parity parity)
{
return _impl.setParity(parity);
}
StopBits Serial::getStopbits() const
{
return _impl.getStopbits();
}
bool Serial::setStopbits(StopBits stopbits)
{
return _impl.setStopbits(stopbits);
}
FlowControl Serial::getFlowcontrol() const
{
return _impl.getFlowcontrol();
}
bool Serial::setFlowcontrol(FlowControl flowcontrol)
{
return _impl.setFlowcontrol(flowcontrol);
}
const char *Serial::getPort() const
{
return _impl.getPort();
}
} // namespace device

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@ -1,97 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <SerialImpl.hpp>
#include <px4_platform_common/SerialCommon.hpp>
using device::SerialConfig::ByteSize;
using device::SerialConfig::Parity;
using device::SerialConfig::StopBits;
using device::SerialConfig::FlowControl;
namespace device __EXPORT
{
class Serial
{
public:
Serial(const char *port, uint32_t baudrate = 57600,
ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
virtual ~Serial();
// Open sets up the port and gets it configured based on desired configuration
bool open();
bool isOpen() const;
bool close();
ssize_t read(uint8_t *buffer, size_t buffer_size);
ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
ssize_t write(const void *buffer, size_t buffer_size);
// If port is already open then the following configuration functions
// will reconfigure the port. If the port is not yet open then they will
// simply store the configuration in preparation for the port to be opened.
uint32_t getBaudrate() const;
bool setBaudrate(uint32_t baudrate);
ByteSize getBytesize() const;
bool setBytesize(ByteSize bytesize);
Parity getParity() const;
bool setParity(Parity parity);
StopBits getStopbits() const;
bool setStopbits(StopBits stopbits);
FlowControl getFlowcontrol() const;
bool setFlowcontrol(FlowControl flowcontrol);
const char *getPort() const;
private:
// Disable copy constructors
Serial(const Serial &);
Serial &operator=(const Serial &);
// platform implementation
SerialImpl _impl;
};
} // namespace device

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@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
namespace device
{
namespace SerialConfig
{
// ByteSize: number of data bits
enum class ByteSize {
FiveBits = 5,
SixBits = 6,
SevenBits = 7,
EightBits = 8,
};
// Parity: enable parity checking
enum class Parity {
None = 0,
Odd = 1,
Even = 2,
};
// StopBits: number of stop bits
enum class StopBits {
One = 1,
Two = 2
};
// FlowControl: enable flow control
enum class FlowControl {
Disabled = 0,
Enabled = 1,
};
} // namespace SerialConfig
} // namespace device

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@ -13,21 +13,11 @@ __END_DECLS
#define px4_clock_gettime system_clock_gettime
#endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
__BEGIN_DECLS
__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
__END_DECLS
#else
#define px4_clock_settime system_clock_settime
#endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
__BEGIN_DECLS
__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
__EXPORT int px4_usleep(useconds_t usec);
__EXPORT unsigned int px4_sleep(unsigned int seconds);
__EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@ -37,6 +27,7 @@ __END_DECLS
#else
#define px4_clock_settime system_clock_settime
#define px4_usleep system_usleep
#define px4_sleep system_sleep
#define px4_pthread_cond_timedwait system_pthread_cond_timedwait

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@ -56,6 +56,31 @@ public:
SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
SubscriptionCallback(meta, interval_us, instance)
{
// pthread_mutexattr_init
pthread_mutexattr_t attr;
int ret_attr_init = pthread_mutexattr_init(&attr);
if (ret_attr_init != 0) {
PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init);
}
#if defined(PTHREAD_PRIO_NONE)
// pthread_mutexattr_settype
// PTHREAD_PRIO_NONE not available on cygwin
int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE);
if (ret_mutexattr_settype != 0) {
PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype);
}
#endif // PTHREAD_PRIO_NONE
// pthread_mutex_init
int ret_mutex_init = pthread_mutex_init(&_mutex, &attr);
if (ret_mutex_init != 0) {
PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init);
}
}
virtual ~SubscriptionBlocking()

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@ -412,10 +412,7 @@ int16_t uORB::DeviceNode::process_add_subscription()
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
// Only send the most recent data to initialize the remote end.
if (_data_valid) {
ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
}
ch->send_message(_meta->o_name, _meta->o_size, _data);
}
return PX4_OK;

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@ -1,394 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <SerialImpl.hpp>
#include <string.h> // strncpy
#include <termios.h>
#include <px4_log.h>
#include <fcntl.h>
#include <errno.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#define MODULE_NAME "SerialImpl"
namespace device
{
SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol) :
_baudrate(baudrate),
_bytesize(bytesize),
_parity(parity),
_stopbits(stopbits),
_flowcontrol(flowcontrol)
{
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
}
SerialImpl::~SerialImpl()
{
if (isOpen()) {
close();
}
}
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
if (! validateBaudrate(_baudrate)) {
PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
return false;
}
switch (_baudrate) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
#ifndef B460800
#define B460800 460800
#endif
case 460800: speed = B460800; break;
#ifndef B921600
#define B921600 921600
#endif
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
return false;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcgetattr)", termios_state);
return false;
}
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
//
// Input flags - Turn off input processing
//
// convert break to null byte, no CR to NL translation,
// no NL to CR translation, don't mark parity errors or breaks
// no input parity check, don't strip high bit off,
// no XON/XOFF software flow control
//
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
INLCR | PARMRK | INPCK | ISTRIP | IXON);
//
// Output flags - Turn off output processing
//
// no CR to NL translation, no NL to CR-NL translation,
// no NL to CR translation, no column 0 CR suppression,
// no Ctrl-D suppression, no fill characters, no case mapping,
// no local output processing
//
// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
uart_config.c_oflag = 0;
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
/* no parity, one stop bit, disable flow control */
uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
return false;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
return false;
}
if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcsetattr)", termios_state);
return false;
}
return true;
}
bool SerialImpl::open()
{
if (isOpen()) {
return true;
}
// Open the serial port
int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (serial_fd < 0) {
PX4_ERR("failed to open %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
// Configure the serial port
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_open = true;
return _open;
}
bool SerialImpl::isOpen() const
{
return _open;
}
bool SerialImpl::close()
{
if (_serial_fd >= 0) {
::close(_serial_fd);
}
_serial_fd = -1;
_open = false;
return true;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot read from serial device until it has been opened");
return -1;
}
int ret = ::read(_serial_fd, buffer, buffer_size);
if (ret < 0) {
PX4_DEBUG("%s read error %d", _port, ret);
}
return ret;
}
ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
{
if (!_open) {
PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
return -1;
}
if (buffer_size < character_count) {
PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
return -1;
}
const hrt_abstime start_time_us = hrt_absolute_time();
int total_bytes_read = 0;
while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
// Poll for incoming UART data.
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
if (ret > 0) {
if (fds[0].revents & POLLIN) {
const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
int err = 0;
int bytes_available = 0;
err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
if (err != 0 || bytes_available < (int)character_count) {
px4_usleep(sleeptime);
}
ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
if (ret > 0) {
total_bytes_read += ret;
}
} else {
PX4_ERR("Got a poll error");
return -1;
}
}
}
return total_bytes_read;
}
ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot write to serial device until it has been opened");
return -1;
}
int written = ::write(_serial_fd, buffer, buffer_size);
::fsync(_serial_fd);
if (written < 0) {
PX4_ERR("%s write error %d", _port, written);
}
return written;
}
const char *SerialImpl::getPort() const
{
return _port;
}
uint32_t SerialImpl::getBaudrate() const
{
return _baudrate;
}
bool SerialImpl::setBaudrate(uint32_t baudrate)
{
if (! validateBaudrate(baudrate)) {
PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
return false;
}
// check if already configured
if ((baudrate == _baudrate) && _open) {
return true;
}
_baudrate = baudrate;
// process baud rate change now if port is already open
if (_open) {
return configure();
}
return true;
}
ByteSize SerialImpl::getBytesize() const
{
return _bytesize;
}
bool SerialImpl::setBytesize(ByteSize bytesize)
{
return bytesize == ByteSize::EightBits;
}
Parity SerialImpl::getParity() const
{
return _parity;
}
bool SerialImpl::setParity(Parity parity)
{
return parity == Parity::None;
}
StopBits SerialImpl::getStopbits() const
{
return _stopbits;
}
bool SerialImpl::setStopbits(StopBits stopbits)
{
return stopbits == StopBits::One;
}
FlowControl SerialImpl::getFlowcontrol() const
{
return _flowcontrol;
}
bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
{
return flowcontrol == FlowControl::Disabled;
}
} // namespace device

View File

@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <unistd.h>
#include <px4_platform_common/SerialCommon.hpp>
using device::SerialConfig::ByteSize;
using device::SerialConfig::Parity;
using device::SerialConfig::StopBits;
using device::SerialConfig::FlowControl;
namespace device
{
class SerialImpl
{
public:
SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol);
virtual ~SerialImpl();
bool open();
bool isOpen() const;
bool close();
ssize_t read(uint8_t *buffer, size_t buffer_size);
ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
ssize_t write(const void *buffer, size_t buffer_size);
const char *getPort() const;
uint32_t getBaudrate() const;
bool setBaudrate(uint32_t baudrate);
ByteSize getBytesize() const;
bool setBytesize(ByteSize bytesize);
Parity getParity() const;
bool setParity(Parity parity);
StopBits getStopbits() const;
bool setStopbits(StopBits stopbits);
FlowControl getFlowcontrol() const;
bool setFlowcontrol(FlowControl flowcontrol);
private:
int _serial_fd{-1};
bool _open{false};
char _port[32] {};
uint32_t _baudrate{0};
ByteSize _bytesize{ByteSize::EightBits};
Parity _parity{Parity::None};
StopBits _stopbits{StopBits::One};
FlowControl _flowcontrol{FlowControl::Disabled};
bool validateBaudrate(uint32_t baudrate);
bool configure();
};
} // namespace device

View File

@ -3,8 +3,6 @@
add_library(px4_layer
${KERNEL_SRCS}
cdc_acm_check.cpp
${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
SerialImpl.cpp
)
target_link_libraries(px4_layer

View File

@ -15,8 +15,6 @@ add_library(px4_layer
usr_board_ctrl.c
usr_hrt.cpp
usr_mcu_version.cpp
${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
SerialImpl.cpp
)
target_link_libraries(px4_layer

View File

@ -1,103 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <unistd.h>
#include <px4_platform_common/SerialCommon.hpp>
using device::SerialConfig::ByteSize;
using device::SerialConfig::Parity;
using device::SerialConfig::StopBits;
using device::SerialConfig::FlowControl;
namespace device
{
class SerialImpl
{
public:
SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol);
virtual ~SerialImpl();
bool open();
bool isOpen() const;
bool close();
ssize_t read(uint8_t *buffer, size_t buffer_size);
ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
ssize_t write(const void *buffer, size_t buffer_size);
const char *getPort() const;
uint32_t getBaudrate() const;
bool setBaudrate(uint32_t baudrate);
ByteSize getBytesize() const;
bool setBytesize(ByteSize bytesize);
Parity getParity() const;
bool setParity(Parity parity);
StopBits getStopbits() const;
bool setStopbits(StopBits stopbits);
FlowControl getFlowcontrol() const;
bool setFlowcontrol(FlowControl flowcontrol);
private:
int _serial_fd{-1};
bool _open{false};
char _port[32] {};
uint32_t _baudrate{0};
ByteSize _bytesize{ByteSize::EightBits};
Parity _parity{Parity::None};
StopBits _stopbits{StopBits::One};
FlowControl _flowcontrol{FlowControl::Disabled};
bool validateBaudrate(uint32_t baudrate);
bool configure();
};
} // namespace device

View File

@ -46,8 +46,6 @@ add_library(px4_layer
drv_hrt.cpp
cpuload.cpp
print_load.cpp
${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
SerialImpl.cpp
)
target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

View File

@ -1,387 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <SerialImpl.hpp>
#include <string.h> // strncpy
#include <termios.h>
#include <px4_log.h>
#include <fcntl.h>
#include <errno.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
namespace device
{
SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol) :
_baudrate(baudrate),
_bytesize(bytesize),
_parity(parity),
_stopbits(stopbits),
_flowcontrol(flowcontrol)
{
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
}
SerialImpl::~SerialImpl()
{
if (isOpen()) {
close();
}
}
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
if (! validateBaudrate(_baudrate)) {
PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
return false;
}
switch (_baudrate) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
#ifndef B460800
#define B460800 460800
#endif
case 460800: speed = B460800; break;
#ifndef B921600
#define B921600 921600
#endif
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
return false;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcgetattr)", termios_state);
return false;
}
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
//
// Input flags - Turn off input processing
//
// convert break to null byte, no CR to NL translation,
// no NL to CR translation, don't mark parity errors or breaks
// no input parity check, don't strip high bit off,
// no XON/XOFF software flow control
//
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
INLCR | PARMRK | INPCK | ISTRIP | IXON);
//
// Output flags - Turn off output processing
//
// no CR to NL translation, no NL to CR-NL translation,
// no NL to CR translation, no column 0 CR suppression,
// no Ctrl-D suppression, no fill characters, no case mapping,
// no local output processing
//
// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
uart_config.c_oflag = 0;
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
/* no parity, one stop bit, disable flow control */
uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
return false;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
return false;
}
if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcsetattr)", termios_state);
return false;
}
return true;
}
bool SerialImpl::open()
{
if (isOpen()) {
return true;
}
// Open the serial port
int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (serial_fd < 0) {
PX4_ERR("failed to open %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
// Configure the serial port
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_open = true;
return _open;
}
bool SerialImpl::isOpen() const
{
return _open;
}
bool SerialImpl::close()
{
if (_serial_fd >= 0) {
::close(_serial_fd);
}
_serial_fd = -1;
_open = false;
return true;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot read from serial device until it has been opened");
return -1;
}
int ret = ::read(_serial_fd, buffer, buffer_size);
if (ret < 0) {
PX4_DEBUG("%s read error %d", _port, ret);
}
return ret;
}
ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
{
if (!_open) {
PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
return -1;
}
if (buffer_size < character_count) {
PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
return -1;
}
const hrt_abstime start_time_us = hrt_absolute_time();
int total_bytes_read = 0;
while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
// Poll for incoming UART data.
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
if (ret > 0) {
if (fds[0].revents & POLLIN) {
const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
px4_usleep(sleeptime);
ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
if (ret > 0) {
total_bytes_read += ret;
}
} else {
PX4_ERR("Got a poll error");
return -1;
}
}
}
return total_bytes_read;
}
ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot write to serial device until it has been opened");
return -1;
}
int written = ::write(_serial_fd, buffer, buffer_size);
::fsync(_serial_fd);
if (written < 0) {
PX4_ERR("%s write error %d", _port, written);
}
return written;
}
const char *SerialImpl::getPort() const
{
return _port;
}
uint32_t SerialImpl::getBaudrate() const
{
return _baudrate;
}
bool SerialImpl::setBaudrate(uint32_t baudrate)
{
if (! validateBaudrate(baudrate)) {
PX4_ERR("ERR: invalid baudrate: %u", baudrate);
return false;
}
// check if already configured
if ((baudrate == _baudrate) && _open) {
return true;
}
_baudrate = baudrate;
// process baud rate change now if port is already open
if (_open) {
return configure();
}
return true;
}
ByteSize SerialImpl::getBytesize() const
{
return _bytesize;
}
bool SerialImpl::setBytesize(ByteSize bytesize)
{
return bytesize == ByteSize::EightBits;
}
Parity SerialImpl::getParity() const
{
return _parity;
}
bool SerialImpl::setParity(Parity parity)
{
return parity == Parity::None;
}
StopBits SerialImpl::getStopbits() const
{
return _stopbits;
}
bool SerialImpl::setStopbits(StopBits stopbits)
{
return stopbits == StopBits::One;
}
FlowControl SerialImpl::getFlowcontrol() const
{
return _flowcontrol;
}
bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
{
return flowcontrol == FlowControl::Disabled;
}
} // namespace device

View File

@ -51,11 +51,6 @@
#include <errno.h>
#include "hrt_work.h"
// Voxl2 board specific API definitions to get time offset
#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
#include "fc_sensor.h"
#endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
#include <lockstep_scheduler/lockstep_scheduler.h>
static LockstepScheduler lockstep_scheduler {true};
@ -112,29 +107,6 @@ hrt_abstime hrt_absolute_time()
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
hrt_abstime temp_abstime = ts_to_abstime(&ts);
int apps_time_offset = fc_sensor_get_time_offset();
if (apps_time_offset < 0) {
hrt_abstime temp_offset = -apps_time_offset;
if (temp_offset >= temp_abstime) {
temp_abstime = 0;
} else {
temp_abstime -= temp_offset;
}
} else {
temp_abstime += (hrt_abstime) apps_time_offset;
}
ts.tv_sec = temp_abstime / 1000000;
ts.tv_nsec = (temp_abstime % 1000000) * 1000;
# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
return ts_to_abstime(&ts);
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
}
@ -477,7 +449,6 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
return system_clock_gettime(clk_id, tp);
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)

View File

@ -50,4 +50,5 @@ add_library(px4 SHARED
target_link_libraries(px4
modules__muorb__slpi
${module_libraries}
px4_layer
)

View File

@ -1,108 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <unistd.h>
#include <px4_platform_common/SerialCommon.hpp>
using device::SerialConfig::ByteSize;
using device::SerialConfig::Parity;
using device::SerialConfig::StopBits;
using device::SerialConfig::FlowControl;
namespace device
{
class SerialImpl
{
public:
SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol);
virtual ~SerialImpl();
bool open();
bool isOpen() const;
bool close();
ssize_t read(uint8_t *buffer, size_t buffer_size);
ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
ssize_t write(const void *buffer, size_t buffer_size);
const char *getPort() const;
bool setPort(const char *port);
uint32_t getBaudrate() const;
bool setBaudrate(uint32_t baudrate);
ByteSize getBytesize() const;
bool setBytesize(ByteSize bytesize);
Parity getParity() const;
bool setParity(Parity parity);
StopBits getStopbits() const;
bool setStopbits(StopBits stopbits);
FlowControl getFlowcontrol() const;
bool setFlowcontrol(FlowControl flowcontrol);
private:
int _serial_fd{-1};
bool _open{false};
char _port[32] {};
uint32_t _baudrate{0};
ByteSize _bytesize{ByteSize::EightBits};
Parity _parity{Parity::None};
StopBits _stopbits{StopBits::One};
FlowControl _flowcontrol{FlowControl::Disabled};
bool validateBaudrate(uint32_t baudrate);
// Mutex used to lock the read functions
//pthread_mutex_t read_mutex;
// Mutex used to lock the write functions
//pthread_mutex_t write_mutex;
};
} // namespace device

View File

@ -38,7 +38,6 @@ set(QURT_LAYER_SRCS
px4_qurt_impl.cpp
main.cpp
qurt_log.cpp
SerialImpl.cpp
)
add_library(px4_layer

View File

@ -1,326 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <SerialImpl.hpp>
#include <string.h> // strncpy
#include <px4_log.h>
#include <drivers/device/qurt/uart.h>
#include <drivers/drv_hrt.h>
namespace device
{
SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
FlowControl flowcontrol) :
_baudrate(baudrate),
_bytesize(bytesize),
_parity(parity),
_stopbits(stopbits),
_flowcontrol(flowcontrol)
{
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
}
SerialImpl::~SerialImpl()
{
if (isOpen()) {
close();
}
}
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
if ((baudrate != 9600) &&
(baudrate != 38400) &&
(baudrate != 57600) &&
(baudrate != 115200) &&
(baudrate != 230400) &&
(baudrate != 250000) &&
(baudrate != 420000) &&
(baudrate != 460800) &&
(baudrate != 921600) &&
(baudrate != 1000000) &&
(baudrate != 1843200) &&
(baudrate != 2000000)) {
return false;
}
return true;
}
bool SerialImpl::open()
{
// There's no harm in calling open multiple times on the same port.
// In fact, that's the only way to change the baudrate
_open = false;
_serial_fd = -1;
if (! validateBaudrate(_baudrate)) {
PX4_ERR("Invalid baudrate: %u", _baudrate);
return false;
}
if (_bytesize != ByteSize::EightBits) {
PX4_ERR("Qurt platform only supports ByteSize::EightBits");
return false;
}
if (_parity != Parity::None) {
PX4_ERR("Qurt platform only supports Parity::None");
return false;
}
if (_stopbits != StopBits::One) {
PX4_ERR("Qurt platform only supports StopBits::One");
return false;
}
if (_flowcontrol != FlowControl::Disabled) {
PX4_ERR("Qurt platform only supports FlowControl::Disabled");
return false;
}
// qurt_uart_open will check validity of port and baudrate
int serial_fd = qurt_uart_open(_port, _baudrate);
if (serial_fd < 0) {
PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
return false;
} else {
PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
}
_serial_fd = serial_fd;
_open = true;
return _open;
}
bool SerialImpl::isOpen() const
{
return _open;
}
bool SerialImpl::close()
{
// No close defined for qurt uart yet
// if (_serial_fd >= 0) {
// qurt_uart_close(_serial_fd);
// }
_serial_fd = -1;
_open = false;
return true;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot read from serial device until it has been opened");
return -1;
}
int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
if (ret_read < 0) {
PX4_DEBUG("%s read error %d", _port, ret_read);
}
return ret_read;
}
ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
{
if (!_open) {
PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
return -1;
}
if (buffer_size < character_count) {
PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
return -1;
}
const hrt_abstime start_time_us = hrt_absolute_time();
int total_bytes_read = 0;
while (total_bytes_read < (int) character_count) {
if (timeout_us > 0) {
const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
if (elapsed_us >= timeout_us) {
// If there was a partial read but not enough to satisfy the minimum then they will be lost
// but this really should never happen when everything is working normally.
// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
return total_bytes_read;
}
}
int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
if (current_bytes_read < 0) {
// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
// but this really should never happen when everything is working normally.
PX4_ERR("%s failed to read uart", __FUNCTION__);
// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
return -1;
}
// Current bytes read could be zero
total_bytes_read += current_bytes_read;
// If we have at least reached our desired minimum number of characters
// then we can return now
if (total_bytes_read >= (int) character_count) {
return total_bytes_read;
}
// Wait a set amount of time before trying again or the remaining time
// until the timeout if we are getting close
const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
int64_t time_until_timeout = timeout_us - elapsed_us;
uint64_t time_to_sleep = 5000;
if ((time_until_timeout >= 0) &&
(time_until_timeout < (int64_t) time_to_sleep)) {
time_to_sleep = time_until_timeout;
}
px4_usleep(time_to_sleep);
}
return -1;
}
ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
{
if (!_open) {
PX4_ERR("Cannot write to serial device until it has been opened");
return -1;
}
int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
if (ret_write < 0) {
PX4_ERR("%s write error %d", _port, ret_write);
}
return ret_write;
}
const char *SerialImpl::getPort() const
{
return _port;
}
uint32_t SerialImpl::getBaudrate() const
{
return _baudrate;
}
bool SerialImpl::setBaudrate(uint32_t baudrate)
{
if (! validateBaudrate(baudrate)) {
PX4_ERR("Invalid baudrate: %u", baudrate);
return false;
}
// check if already configured
if (baudrate == _baudrate) {
return true;
}
_baudrate = baudrate;
// process baud rate change now if port is already open
if (_open) {
return open();
}
return true;
}
ByteSize SerialImpl::getBytesize() const
{
return _bytesize;
}
bool SerialImpl::setBytesize(ByteSize bytesize)
{
return bytesize == ByteSize::EightBits;
}
Parity SerialImpl::getParity() const
{
return _parity;
}
bool SerialImpl::setParity(Parity parity)
{
return parity == Parity::None;
}
StopBits SerialImpl::getStopbits() const
{
return _stopbits;
}
bool SerialImpl::setStopbits(StopBits stopbits)
{
return stopbits == StopBits::One;
}
FlowControl SerialImpl::getFlowcontrol() const
{
return _flowcontrol;
}
bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
{
return flowcontrol == FlowControl::Disabled;
}
} // namespace device

View File

@ -81,7 +81,7 @@ static void hrt_unlock()
px4_sem_post(&_hrt_lock);
}
int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
return 0;
}

View File

@ -162,16 +162,7 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
*/
static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
{
hrt_abstime now = hrt_absolute_time();
// Cannot allow a negative elapsed time as this would appear
// to be a huge positive elapsed time when represented as an
// unsigned value!
if (*then > now) {
return 0;
}
return now - *then;
return hrt_absolute_time() - *then;
}
/**

View File

@ -45,6 +45,7 @@
#include <poll.h>
#endif
#include <termios.h>
#include <cstring>
#include <drivers/drv_sensor.h>
@ -56,8 +57,6 @@
#include <px4_platform_common/cli.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/Serial.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
@ -82,7 +81,6 @@
#include <linux/spi/spidev.h>
#endif /* __PX4_LINUX */
using namespace device;
using namespace time_literals;
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@ -171,10 +169,7 @@ public:
void reset_if_scheduled();
private:
#ifdef __PX4_LINUX
int _spi_fd {-1}; ///< SPI interface to GPS
#endif
Serial *_uart = nullptr; ///< UART interface to GPS
int _serial_fd{-1}; ///< serial interface to GPS
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
char _port[20] {}; ///< device / serial port path
@ -334,11 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
set_device_bus(c - 48); // sub 48 to convert char to integer
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
#endif
}
if (_mode == gps_driver_mode_t::None) {
@ -411,23 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
return num_read;
}
case GPSCallbackType::writeDeviceData: {
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
case GPSCallbackType::writeDeviceData:
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
int ret = 0;
if (gps->_uart) {
ret = gps->_uart->write((void *) data1, (size_t) data2);
#ifdef __PX4_LINUX
} else if (gps->_spi_fd >= 0) {
ret = ::write(gps->_spi_fd, data1, (size_t)data2);
#endif
}
return ret;
}
return ::write(gps->_serial_fd, data1, (size_t)data2);
case GPSCallbackType::setBaudrate:
return gps->setBaudrate(data2);
@ -470,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
{
int ret = 0;
const unsigned character_count = 32; // minimum bytes that we want to read
const int max_timeout = 50;
int timeout_adjusted = math::min(max_timeout, timeout);
handleInjectDataTopic();
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
#if !defined(__PX4_QURT)
// SPI is only supported on LInux
#if defined(__PX4_LINUX)
/* For non QURT, use the usual polling. */
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
//Poll only for the serial data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
//two pollings use different underlying mechanisms (at least under posix), which makes this
//impossible. Instead we limit the maximum polling interval and regularly check for new orb
//messages.
//FIXME: add a unified poll() API
const int max_timeout = 50;
//Poll only for the SPI data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
//two pollings use different underlying mechanisms (at least under posix), which makes this
//impossible. Instead we limit the maximum polling interval and regularly check for new orb
//messages.
//FIXME: add a unified poll() API
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
pollfd fds[1];
fds[0].fd = _spi_fd;
fds[0].events = POLLIN;
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. But don't read immediately
* by 1-2 bytes, wait for some more data to save expensive read() calls.
* If we have all requested data available, read it without waiting.
* If more bytes are available, we'll go back to poll() again.
*/
const unsigned character_count = 32; // minimum bytes that we want to read
unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. But don't read immediately
* by 1-2 bytes, wait for some more data to save expensive read() calls.
* If we have all requested data available, read it without waiting.
* If more bytes are available, we'll go back to poll() again.
*/
unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
#ifdef __PX4_NUTTX
int err = 0;
int bytes_available = 0;
err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
if (err != 0 || bytes_available < (int)character_count) {
px4_usleep(sleeptime);
ret = ::read(_spi_fd, buf, buf_length);
if (ret > 0) {
_num_bytes_read += ret;
}
} else {
ret = -1;
}
}
#else
px4_usleep(sleeptime);
#endif
ret = ::read(_serial_fd, buf, buf_length);
if (ret > 0) {
_num_bytes_read += ret;
}
} else {
ret = -1;
}
}
return ret;
#else
/* For QURT, just use read for now, since this doesn't block, we need to slow it down
* just a bit. */
px4_usleep(10000);
return ::read(_serial_fd, buf, buf_length);
#endif
}
void GPS::handleInjectDataTopic()
@ -596,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
{
dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
size_t written = 0;
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
written = _uart->write((const void *) data, len);
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
written = ::write(_spi_fd, data, len);
::fsync(_spi_fd);
#endif
}
size_t written = ::write(_serial_fd, data, len);
::fsync(_serial_fd);
return written == len;
}
int GPS::setBaudrate(unsigned baud)
{
if (_interface == GPSHelper::Interface::UART) {
if ((_uart) && (_uart->setBaudrate(baud))) {
return 0;
}
/* process baud rate */
int speed;
#ifdef __PX4_LINUX
switch (baud) {
case 9600: speed = B9600; break;
} else if (_interface == GPSHelper::Interface::SPI) {
// Can't set the baudrate on a SPI port but just return a success
return 0;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
#ifndef B460800
#define B460800 460800
#endif
case 460800: speed = B460800; break;
#ifndef B921600
#define B921600 921600
#endif
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %d", baud);
return -EINVAL;
}
return -1;
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_serial_fd, &uart_config);
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
//
// Input flags - Turn off input processing
//
// convert break to null byte, no CR to NL translation,
// no NL to CR translation, don't mark parity errors or breaks
// no input parity check, don't strip high bit off,
// no XON/XOFF software flow control
//
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
INLCR | PARMRK | INPCK | ISTRIP | IXON);
//
// Output flags - Turn off output processing
//
// no CR to NL translation, no NL to CR-NL translation,
// no NL to CR translation, no column 0 CR suppression,
// no Ctrl-D suppression, no fill characters, no case mapping,
// no local output processing
//
// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
uart_config.c_oflag = 0;
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
/* no parity, one stop bit, disable flow control */
uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
return -1;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
return -1;
}
if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
GPS_ERR("ERR: %d (tcsetattr)", termios_state);
return -1;
}
return 0;
}
void GPS::initializeCommunicationDump()
@ -786,58 +840,31 @@ GPS::run()
_helper = nullptr;
}
if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
if (_serial_fd < 0) {
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
// Create the UART port instance
_uart = new Serial(_port);
if (_uart == nullptr) {
PX4_ERR("Error creating serial device %s", _port);
px4_sleep(1);
continue;
}
}
if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {
if (! _uart->setBaudrate(_configured_baudrate)) {
PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
px4_sleep(1);
continue;
}
}
// Open the UART. If this is successful then the UART is ready to use.
if (! _uart->open()) {
PX4_ERR("Error opening serial device %s", _port);
if (_serial_fd < 0) {
PX4_ERR("failed to open %s err: %d", _port, errno);
px4_sleep(1);
continue;
}
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (_interface == GPSHelper::Interface::SPI) {
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (_spi_fd < 0) {
PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
px4_sleep(1);
continue;
}
if (status_value < 0) {
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
}
#endif /* __PX4_LINUX */
@ -1029,17 +1056,9 @@ GPS::run()
}
}
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
(void) _uart->close();
delete _uart;
_uart = nullptr;
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
::close(_spi_fd);
_spi_fd = -1;
#endif
if (_serial_fd >= 0) {
::close(_serial_fd);
_serial_fd = -1;
}
if (_mode_auto) {
@ -1387,7 +1406,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
entry_point, (char *const *)argv);
if (task_id < 0) {
_task_id = -1;
task_id = -1;
return -errno;
}
@ -1458,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
break;
case 'i':
if (!strcmp(myoptarg, "uart")) {
interface = GPSHelper::Interface::UART;
#ifdef __PX4_LINUX
} else if (!strcmp(myoptarg, "spi")) {
if (!strcmp(myoptarg, "spi")) {
interface = GPSHelper::Interface::SPI;
#endif
} else if (!strcmp(myoptarg, "uart")) {
interface = GPSHelper::Interface::UART;
} else {
PX4_ERR("unknown interface: %s", myoptarg);
error_flag = true;
@ -1471,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
break;
case 'j':
if (!strcmp(myoptarg, "uart")) {
interface_secondary = GPSHelper::Interface::UART;
#ifdef __PX4_LINUX
} else if (!strcmp(myoptarg, "spi")) {
if (!strcmp(myoptarg, "spi")) {
interface_secondary = GPSHelper::Interface::SPI;
#endif
} else if (!strcmp(myoptarg, "uart")) {
interface_secondary = GPSHelper::Interface::UART;
} else {
PX4_ERR("unknown interface for secondary: %s", myoptarg);
error_flag = true;

View File

@ -364,13 +364,6 @@ PX4IO::~PX4IO()
bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
for (size_t i = 0; i < num_outputs; i++) {
if (!_mixing_output.isFunctionSet(i)) {
// do not run any signal on disabled channels
outputs[i] = 0;
}
}
if (!_test_fmu_fail) {
/* output to the servos */
io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);

View File

@ -75,7 +75,6 @@ add_definitions(
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1

View File

@ -744,41 +744,6 @@ UavcanNode::Run()
_node.spinOnce(); // expected to be non-blocking
// Publish status
constexpr hrt_abstime status_pub_interval = 100_ms;
if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) {
_last_can_status_pub = hrt_absolute_time();
for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
if (i > UAVCAN_NUM_IFACES) {
break;
}
auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
if (!iface) {
continue;
}
auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
can_interface_status_s status{
.timestamp = hrt_absolute_time(),
.io_errors = iface_perf_cnt.errors,
.frames_tx = iface_perf_cnt.frames_tx,
.frames_rx = iface_perf_cnt.frames_rx,
.interface = static_cast<uint8_t>(i),
};
if (_can_status_pub_handles[i] == nullptr) {
int instance{0};
_can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance);
}
(void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status);
}
}
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update

View File

@ -96,7 +96,6 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/can_interface_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/uavcan_parameter_value.h>
@ -310,10 +309,6 @@ private:
uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationMulti<can_interface_status_s> _can_status_pub{ORB_ID(can_interface_status)};
hrt_abstime _last_can_status_pub{0};
orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr};
/*
* The MAVLink parameter bridge needs to know the maximum parameter index

View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2024 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -51,18 +51,17 @@ static constexpr float sq(float var) { return var * var; }
// rot312(1) - Second rotation is a RH rotation about the X axis (rad)
// rot312(2) - Third rotation is a RH rotation about the Y axis (rad)
// See http://www.atacolorado.com/eulersequences.doc
template<typename T = float>
inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312)
{
// Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence
const T c2 = cosf(rot312(2)); // third rotation is pitch
const T s2 = sinf(rot312(2));
const T s1 = sinf(rot312(1)); // second rotation is roll
const T c1 = cosf(rot312(1));
const T s0 = sinf(rot312(0)); // first rotation is yaw
const T c0 = cosf(rot312(0));
const float c2 = cosf(rot312(2)); // third rotation is pitch
const float s2 = sinf(rot312(2));
const float s1 = sinf(rot312(1)); // second rotation is roll
const float c1 = cosf(rot312(1));
const float s0 = sinf(rot312(0)); // first rotation is yaw
const float c0 = cosf(rot312(0));
matrix::Dcm<T> R;
matrix::Dcmf R;
R(0, 0) = c0 * c2 - s0 * s1 * s2;
R(1, 1) = c0 * c1;
R(2, 2) = c2 * c1;
@ -76,21 +75,20 @@ inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
return R;
}
template<typename T = float>
inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat)
{
const T q00 = quat(0) * quat(0);
const T q11 = quat(1) * quat(1);
const T q22 = quat(2) * quat(2);
const T q33 = quat(3) * quat(3);
const T q01 = quat(0) * quat(1);
const T q02 = quat(0) * quat(2);
const T q03 = quat(0) * quat(3);
const T q12 = quat(1) * quat(2);
const T q13 = quat(1) * quat(3);
const T q23 = quat(2) * quat(3);
const float q00 = quat(0) * quat(0);
const float q11 = quat(1) * quat(1);
const float q22 = quat(2) * quat(2);
const float q33 = quat(3) * quat(3);
const float q01 = quat(0) * quat(1);
const float q02 = quat(0) * quat(2);
const float q03 = quat(0) * quat(3);
const float q12 = quat(1) * quat(2);
const float q13 = quat(1) * quat(3);
const float q23 = quat(2) * quat(3);
matrix::Dcm<T> dcm;
matrix::Dcmf dcm;
dcm(0, 0) = q00 + q11 - q22 - q33;
dcm(1, 1) = q00 - q11 + q22 - q33;
dcm(2, 2) = q00 - q11 - q22 + q33;
@ -107,46 +105,40 @@ inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
// We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence
// when there is more roll than pitch tilt and a 3-1-2 rotation sequence
// when there is more pitch than roll tilt to avoid gimbal lock.
template<typename T = float>
inline bool shouldUse321RotationSequence(const matrix::Dcm<T> &R)
inline bool shouldUse321RotationSequence(const matrix::Dcmf &R)
{
return fabsf(R(2, 0)) < fabsf(R(2, 1));
}
template<typename T = float>
inline float getEuler321Yaw(const matrix::Dcm<T> &R)
inline float getEuler321Yaw(const matrix::Dcmf &R)
{
return atan2f(R(1, 0), R(0, 0));
}
template<typename T = float>
inline float getEuler312Yaw(const matrix::Dcm<T> &R)
inline float getEuler312Yaw(const matrix::Dcmf &R)
{
return atan2f(-R(0, 1), R(1, 1));
}
template<typename T = float>
inline T getEuler321Yaw(const matrix::Quaternion<T> &q)
inline float getEuler321Yaw(const matrix::Quatf &q)
{
// Values from yaw_input_321.c file produced by
// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m
const T a = static_cast<T>(2.) * (q(0) * q(3) + q(1) * q(2));
const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
const float a = 2.f * (q(0) * q(3) + q(1) * q(2));
const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
return atan2f(a, b);
}
template<typename T = float>
inline T getEuler312Yaw(const matrix::Quaternion<T> &q)
inline float getEuler312Yaw(const matrix::Quatf &q)
{
// Values from yaw_input_312.c file produced by
// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
const T a = static_cast<T>(2.) * (q(0) * q(3) - q(1) * q(2));
const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
const float a = 2.f * (q(0) * q(3) - q(1) * q(2));
const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
return atan2f(a, b);
}
template<typename T = float>
inline T getEulerYaw(const matrix::Dcm<T> &R)
inline float getEulerYaw(const matrix::Dcmf &R)
{
if (shouldUse321RotationSequence(R)) {
return getEuler321Yaw(R);
@ -156,32 +148,23 @@ inline T getEulerYaw(const matrix::Dcm<T> &R)
}
}
template<typename T = float>
inline T getEulerYaw(const matrix::Quaternion<T> &q)
inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
{
return getEulerYaw(matrix::Dcm<T>(q));
}
template<typename T = float>
inline matrix::Dcm<T> updateEuler321YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
{
matrix::Euler<T> euler321(rot_in);
matrix::Eulerf euler321(rot_in);
euler321(2) = yaw;
return matrix::Dcm<T>(euler321);
return matrix::Dcmf(euler321);
}
template<typename T = float>
inline matrix::Dcm<T> updateEuler312YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
{
const matrix::Vector3<T> rotVec312(yaw, // yaw
asinf(rot_in(2, 1)), // roll
atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch
const matrix::Vector3f rotVec312(yaw, // yaw
asinf(rot_in(2, 1)), // roll
atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch
return taitBryan312ToRotMat(rotVec312);
}
// Checks which euler rotation sequence to use and update yaw in rotation matrix
template<typename T = float>
inline matrix::Dcm<T> updateYawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in)
{
if (shouldUse321RotationSequence(rot_in)) {
return updateEuler321YawInRotMat(yaw, rot_in);

View File

@ -455,8 +455,7 @@ bool MixingOutput::update()
}
}
// Send output if any function mapped or one last disabling sample
if (!all_disabled || !_was_all_disabled) {
if (!all_disabled) {
if (!_armed.armed && !_armed.manual_lockdown) {
_actuator_test.overrideValues(outputs, _max_num_outputs);
}
@ -464,8 +463,6 @@ bool MixingOutput::update()
limitAndUpdateOutputs(outputs, has_updates);
}
_was_all_disabled = all_disabled;
return true;
}

View File

@ -288,7 +288,6 @@ private:
hrt_abstime _lowrate_schedule_interval{300_ms};
ActuatorTest _actuator_test{_function_assignment};
uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
bool _was_all_disabled{false};
uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback

View File

@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(test_module.num_updates, 0);
// all functions disabled: expect to get one single update to process disabling the output signal
// all functions disabled: not expected to get an update
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 1);
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 1);
EXPECT_EQ(test_module.num_updates, 0);
test_module.reset();
// configure motor, ensure all still disarmed

View File

@ -517,8 +517,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::FallbackAltCtrl:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
@ -526,8 +524,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::FallbackStab:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) {
@ -535,8 +531,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
} // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Hold:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
@ -544,8 +538,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::RTL:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
@ -553,8 +545,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Land:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
@ -562,8 +552,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Descend:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) {
@ -571,8 +559,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Terminate:
selected_action = Action::Terminate;

View File

@ -485,14 +485,9 @@ public:
#else
// Efficient implementation of the Joseph stabilized covariance update
// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
// P = (I - K * H) * P * (I - K * H).T + K * R * K.T
// = P_temp * (I - H.T * K.T) + K * R * K.T
// = P_temp - P_temp * H.T * K.T + K * R * K.T
// Step 1: conventional update
// Compute P_temp and store it in P to avoid allocating more memory
// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T
VectorState PH = P * H;
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j < State::size; j++) {
@ -501,7 +496,7 @@ public:
}
// Step 2: stabilized update
PH = P * H; // H is stored as a column vector. H is in fact H.T
PH = P * H;
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j <= i; j++) {

View File

@ -865,24 +865,18 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
#else
// Efficient implementation of the Joseph stabilized covariance update
// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
// P = (I - K * H) * P * (I - K * H).T + K * R * K.T
// = P_temp * (I - H.T * K.T) + K * R * K.T
// = P_temp - P_temp * H.T * K.T + K * R * K.T
// Step 1: conventional update
// Compute P_temp and store it in P to avoid allocating more memory
// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
VectorState PH = P.row(state_index);
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j < State::size; j++) {
P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed)
P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
}
}
// Step 2: stabilized update
// P (or "P_temp") is not symmetric so we must take the column
PH = P.col(state_index);
PH = P.row(state_index);
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j <= i; j++) {

View File

@ -246,7 +246,7 @@ bool Ekf::tryYawEmergencyReset()
bool success = false;
/* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously
* fails while the difference between the yaw emergency estimator and the yaw estimate is large.
* fails while the difference between the yaw emergency estimator and the yas estimate is large.
* This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was
* present before flight to prevent triggering due to GPS glitches or other sensor errors.
*/

View File

@ -217,7 +217,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_attitude_pub.advertise();
_local_position_pub.advertise();
_estimator_event_flags_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
@ -238,7 +237,6 @@ bool EKF2::multi_init(int imu, int mag)
{
// advertise all topics to ensure consistent uORB instance numbering
_ekf2_timestamps_pub.advertise();
_estimator_event_flags_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
@ -1050,55 +1048,235 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
}
if (information_event_updated || warning_event_updated) {
estimator_event_flags_s event_flags{};
event_flags.timestamp_sample = _ekf.time_delayed_us();
if (_ekf.information_event_flags().gps_checks_passed) {
/* EVENT
* @group ekf2
* @description
* The GNSS checks enabled by <param>EKF2_GPS_CHECK</param> have passed.
*/
events::send<int32_t>(events::ID("ekf2_gnss_checks_passed"), events::Log::Debug,
"EKF2({1}): GNSS checks passed", _instance);
}
event_flags.information_event_changes = _filter_information_event_changes;
event_flags.gps_checks_passed = _ekf.information_event_flags().gps_checks_passed;
event_flags.reset_vel_to_gps = _ekf.information_event_flags().reset_vel_to_gps;
event_flags.reset_vel_to_flow = _ekf.information_event_flags().reset_vel_to_flow;
event_flags.reset_vel_to_vision = _ekf.information_event_flags().reset_vel_to_vision;
event_flags.reset_vel_to_zero = _ekf.information_event_flags().reset_vel_to_zero;
event_flags.reset_pos_to_last_known = _ekf.information_event_flags().reset_pos_to_last_known;
event_flags.reset_pos_to_gps = _ekf.information_event_flags().reset_pos_to_gps;
event_flags.reset_pos_to_vision = _ekf.information_event_flags().reset_pos_to_vision;
event_flags.starting_gps_fusion = _ekf.information_event_flags().starting_gps_fusion;
event_flags.starting_vision_pos_fusion = _ekf.information_event_flags().starting_vision_pos_fusion;
event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion;
event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion;
event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
event_flags.reset_hgt_to_baro = _ekf.information_event_flags().reset_hgt_to_baro;
event_flags.reset_hgt_to_gps = _ekf.information_event_flags().reset_hgt_to_gps;
event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng;
event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev;
if (_ekf.information_event_flags().reset_vel_to_gps) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_vel_to_gnss"), events::Log::Debug,
"EKF2({1}): Reset velocity to GNSS", _instance);
}
event_flags.warning_event_changes = _filter_warning_event_changes;
event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor;
event_flags.gps_fusion_timout = _ekf.warning_event_flags().gps_fusion_timout;
event_flags.gps_data_stopped = _ekf.warning_event_flags().gps_data_stopped;
event_flags.gps_data_stopped_using_alternate = _ekf.warning_event_flags().gps_data_stopped_using_alternate;
event_flags.height_sensor_timeout = _ekf.warning_event_flags().height_sensor_timeout;
event_flags.stopping_navigation = _ekf.warning_event_flags().stopping_mag_use;
event_flags.invalid_accel_bias_cov_reset = _ekf.warning_event_flags().invalid_accel_bias_cov_reset;
event_flags.bad_yaw_using_gps_course = _ekf.warning_event_flags().bad_yaw_using_gps_course;
event_flags.stopping_mag_use = _ekf.warning_event_flags().stopping_mag_use;
event_flags.vision_data_stopped = _ekf.warning_event_flags().vision_data_stopped;
event_flags.emergency_yaw_reset_mag_stopped = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
if (_ekf.information_event_flags().reset_vel_to_flow) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_vel_to_flow"), events::Log::Debug,
"EKF2({1}): Reset velocity to optical flow", _instance);
}
event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_event_flags_pub.update(event_flags);
if (_ekf.information_event_flags().reset_vel_to_vision) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_vel_to_vision"), events::Log::Debug,
"EKF2({1}): Reset velocity vision", _instance);
}
_last_event_flags_publish = event_flags.timestamp;
if (_ekf.information_event_flags().reset_vel_to_zero) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_vel_to_zero"), events::Log::Debug,
"EKF2({1}): Reset velocity zero", _instance);
}
if (_ekf.information_event_flags().reset_pos_to_last_known) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_pos_to_last_known"), events::Log::Debug,
"EKF2({1}): Reset position to last known", _instance);
}
if (_ekf.information_event_flags().reset_pos_to_gps) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_pos_to_gnss"), events::Log::Debug,
"EKF2({1}): Reset position to GNSS", _instance);
}
if (_ekf.information_event_flags().reset_pos_to_vision) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_pos_to_vision"), events::Log::Debug,
"EKF2({1}): Reset position to vision", _instance);
}
if (_ekf.information_event_flags().starting_gps_fusion) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_starting_gnss_fusion"), events::Log::Debug,
"EKF2({1}): Starting GNSS fusion", _instance);
}
if (_ekf.information_event_flags().starting_vision_pos_fusion) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_starting_vision_pos_fusion"), events::Log::Debug,
"EKF2({1}): Starting vision position fusion", _instance);
}
if (_ekf.information_event_flags().starting_vision_vel_fusion) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_starting_vision_vel_fusion"), events::Log::Debug,
"EKF2({1}): Starting vision velocity fusion", _instance);
}
if (_ekf.information_event_flags().starting_vision_yaw_fusion) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_starting_vision_yaw_fusion"), events::Log::Debug,
"EKF2({1}): Starting vision yaw fusion", _instance);
}
if (_ekf.information_event_flags().yaw_aligned_to_imu_gps) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_yaw_aligned_to_imu_gnss"), events::Log::Debug,
"EKF2({1}): Yaw aligned using IMU and GNSS", _instance);
}
if (_ekf.information_event_flags().reset_hgt_to_baro) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_hgt_to_baro"), events::Log::Debug,
"EKF2({1}): Reset height to baro", _instance);
}
if (_ekf.information_event_flags().reset_hgt_to_gps) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_hgt_to_gnss"), events::Log::Debug,
"EKF2({1}): Reset height to GNSS", _instance);
}
if (_ekf.information_event_flags().reset_hgt_to_rng) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_hgt_to_rng"), events::Log::Debug,
"EKF2({1}): Reset height to range finder", _instance);
}
if (_ekf.information_event_flags().reset_hgt_to_ev) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_reset_hgt_to_ev"), events::Log::Debug,
"EKF2({1}): Reset height to vision", _instance);
}
// Warning events
if (_ekf.warning_event_flags().gps_quality_poor) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_gnss_quality_poor"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Poor GNSS quality", _instance);
}
if (_ekf.warning_event_flags().gps_fusion_timout) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_gnss_fusion_timout"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): GNSS fusion timeout", _instance);
}
if (_ekf.warning_event_flags().gps_data_stopped) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_gnss_data_stopped"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): GNSS data stopped", _instance);
}
if (_ekf.warning_event_flags().gps_data_stopped_using_alternate) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_gnss_data_stopped_using_alternate"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): GNSS data stopped, using alternate aiding source", _instance);
}
if (_ekf.warning_event_flags().height_sensor_timeout) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_height_sensor_timeout"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Height sensor timeout", _instance);
}
if (_ekf.warning_event_flags().stopping_mag_use) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_stopping_mag_use"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Stopping magnetometer use", _instance);
}
if (_ekf.warning_event_flags().invalid_accel_bias_cov_reset) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_invalid_accel_bias_cov_reset"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Invalid accelerometer bias, resetting covariance", _instance);
}
if (_ekf.warning_event_flags().bad_yaw_using_gps_course) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_bad_yaw_using_gnss_course"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Bad yaw, reset to GNSS COG", _instance);
}
if (_ekf.warning_event_flags().vision_data_stopped) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_vision_data_stopped"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Vision data stopped", _instance);
}
if (_ekf.warning_event_flags().emergency_yaw_reset_mag_stopped) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_emergency_yaw_reset_mag_stopped"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Emergency yaw reset, stopping magnetometer use", _instance);
}
if (_ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_emergency_yaw_reset_gnss_yaw_stopped"), {events::Log::Debug, events::LogInternal::Warning},
"EKF2({1}): Emergency yaw reset, stopping GNSS yaw use", _instance);
}
_ekf.clear_information_events();
_ekf.clear_warning_events();
} else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) {
// continue publishing periodically
_estimator_event_flags_pub.get().timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_event_flags_pub.update();
_last_event_flags_publish = _estimator_event_flags_pub.get().timestamp;
}
}

View File

@ -67,7 +67,6 @@
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/estimator_bias.h>
#include <uORB/topics/estimator_bias3d.h>
#include <uORB/topics/estimator_event_flags.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_states.h>
@ -421,7 +420,6 @@ private:
bool _callback_registered{false};
hrt_abstime _last_event_flags_publish{0};
hrt_abstime _last_status_flags_publish{0};
uint64_t _filter_control_status{0};
@ -435,7 +433,6 @@ private:
uint32_t _filter_information_event_changes{0};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMultiData<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};

View File

@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1090000,1,-0.01,-0.014,0.00013,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.023,0.023,0.00047,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1190000,1,-0.01,-0.014,0.0001,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.025,0.025,0.00055,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1290000,1,-0.01,-0.014,0.00016,0.02,0.0044,-0.14,0.0027,0.00089,-0.064,8.5e-05,-0.00019,-5.6e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00042,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.00029,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1390000,1,-0.01,-0.014,0.00017,0.026,0.0042,-0.15,0.0051,0.0013,-0.078,8.5e-05,-0.00019,-5.6e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.028,0.028,0.00048,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.00029,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1490000,1,-0.01,-0.014,0.00015,0.024,0.0029,-0.16,0.0038,0.00083,-0.093,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00038,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1590000,1,-0.01,-0.014,0.00015,0.03,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00043,1.3,1.3,2,0.2,0.2,2.6,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1690000,1,-0.011,-0.014,0.00012,0.028,-9.5e-05,-0.19,0.0045,0.00063,-0.13,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00034,1,1,2,0.14,0.14,3,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1790000,1,-0.011,-0.014,9.5e-05,0.035,-0.0019,-0.2,0.0076,0.00054,-0.15,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00038,1.3,1.3,2,0.2,0.2,3.5,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1890000,1,-0.011,-0.015,7.5e-05,0.043,-0.0032,-0.22,0.011,0.00029,-0.17,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.031,0.031,0.00043,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
1990000,1,-0.011,-0.014,8.5e-05,0.036,-0.0046,-0.23,0.0082,-0.00027,-0.19,0.00022,-0.0014,-3.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.025,0.025,0.00034,1.3,1.3,2.1,0.2,0.2,4.7,0.0067,0.0067,0.00011,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2090000,1,-0.011,-0.014,4.7e-05,0.041,-0.0071,-0.24,0.012,-0.00085,-0.22,0.00022,-0.0014,-3.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.027,0.027,0.00038,1.7,1.7,2.1,0.31,0.31,5.3,0.0067,0.0067,0.00011,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2190000,1,-0.011,-0.014,5.8e-05,0.033,-0.0068,-0.26,0.0079,-0.00096,-0.24,0.00017,-0.002,-4.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.02,0.02,0.00031,1.2,1.2,2.1,0.2,0.2,6,0.0055,0.0055,8.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2290000,1,-0.011,-0.014,4.5e-05,0.039,-0.0093,-0.27,0.011,-0.0017,-0.27,0.00017,-0.002,-4.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.022,0.022,0.00034,1.5,1.5,2.1,0.3,0.3,6.7,0.0055,0.0055,8.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2390000,1,-0.011,-0.013,6.2e-05,0.03,-0.0087,-0.29,0.0074,-0.0015,-0.3,9e-05,-0.0025,-5.2e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.017,0.017,0.00028,1,1,2.1,0.19,0.19,7.4,0.0046,0.0046,7.1e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2490000,1,-0.011,-0.013,4.4e-05,0.035,-0.011,-0.3,0.011,-0.0024,-0.32,9e-05,-0.0025,-5.2e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.018,0.018,0.00031,1.3,1.3,2.1,0.28,0.28,8.2,0.0046,0.0046,7.1e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2590000,1,-0.011,-0.013,5.8e-05,0.026,-0.009,-0.31,0.0068,-0.0018,-0.36,-1.4e-05,-0.0029,-5.8e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.014,0.014,0.00026,0.89,0.89,2.1,0.18,0.18,9.1,0.0038,0.0038,5.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2690000,1,-0.011,-0.013,5.5e-05,0.03,-0.01,-0.33,0.0097,-0.0028,-0.39,-1.4e-05,-0.0029,-5.8e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.015,0.015,0.00028,1.1,1.1,2.2,0.25,0.25,10,0.0038,0.0038,5.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2790000,1,-0.011,-0.013,4.8e-05,0.023,-0.0093,-0.34,0.0062,-0.0019,-0.42,-0.00012,-0.0033,-6.3e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.011,0.011,0.00024,0.77,0.77,2.2,0.16,0.16,11,0.0032,0.0032,4.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2890000,1,-0.011,-0.013,-1.8e-06,0.027,-0.011,-0.35,0.0087,-0.0029,-0.46,-0.00012,-0.0033,-6.3e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.013,0.013,0.00026,0.95,0.95,2.2,0.23,0.23,12,0.0032,0.0032,4.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
2990000,1,-0.011,-0.013,4.6e-05,0.022,-0.0095,-0.36,0.0057,-0.0021,-0.49,-0.00023,-0.0036,-6.7e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.0099,0.0099,0.00022,0.67,0.67,2.2,0.15,0.15,13,0.0027,0.0027,4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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19190000,0.78,-0.016,0.00036,-0.63,-0.015,-0.024,0.0067,-0.0077,-0.013,-3.7e+02,-0.0013,-0.0059,-8.2e-06,0.0035,-0.065,-0.13,-0.11,-0.024,0.5,-0.00068,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.015,0.015,0.012,0.041,0.042,0.044,9.1e-07,1.2e-06,4.7e-06,0.03,0.03,0.00063,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19290000,0.78,-0.016,0.00037,-0.63,-0.016,-0.024,0.0094,-0.0095,-0.016,-3.7e+02,-0.0013,-0.006,-1.1e-05,0.0034,-0.065,-0.13,-0.11,-0.024,0.5,-0.00069,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.016,0.017,0.012,0.045,0.046,0.044,9e-07,1.1e-06,4.7e-06,0.03,0.03,0.00061,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19390000,0.78,-0.016,0.0004,-0.63,-0.015,-0.022,0.013,-0.0084,-0.014,-3.7e+02,-0.0013,-0.006,-2.4e-06,0.0035,-0.065,-0.13,-0.11,-0.024,0.5,-0.00065,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.014,0.015,0.012,0.04,0.041,0.043,8.8e-07,1.1e-06,4.6e-06,0.03,0.03,0.00058,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
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20090000,0.78,-0.016,0.00023,-0.63,-0.0096,-0.02,0.015,-0.0091,-0.019,-3.7e+02,-0.0013,-0.0059,4.7e-05,0.0046,-0.065,-0.13,-0.11,-0.024,0.5,-0.00051,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.015,0.016,0.01,0.042,0.043,0.042,7.7e-07,9.8e-07,4.6e-06,0.03,0.03,0.00047,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
20190000,0.78,-0.016,0.00019,-0.63,-0.01,-0.019,0.017,-0.0092,-0.017,-3.7e+02,-0.0013,-0.0059,5.8e-05,0.0047,-0.065,-0.13,-0.11,-0.024,0.5,-0.00046,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.014,0.015,0.01,0.038,0.039,0.041,7.4e-07,9.5e-07,4.6e-06,0.03,0.03,0.00045,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
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20990000,0.78,-0.016,9.5e-05,-0.63,-0.0051,-0.011,0.015,-0.0084,-0.018,-3.7e+02,-0.0013,-0.0059,9e-05,0.0047,-0.065,-0.13,-0.11,-0.024,0.5,-0.00038,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.014,0.015,0.0088,0.043,0.044,0.039,6.4e-07,8.3e-07,4.4e-06,0.03,0.03,0.00037,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21090000,0.78,-0.016,8.8e-05,-0.63,-0.0062,-0.011,0.016,-0.0094,-0.019,-3.7e+02,-0.0013,-0.0059,9.3e-05,0.0048,-0.065,-0.13,-0.11,-0.024,0.5,-0.00037,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.015,0.016,0.0088,0.047,0.048,0.039,6.4e-07,8.2e-07,4.4e-06,0.03,0.03,0.00036,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21190000,0.78,-0.016,8.4e-05,-0.63,-0.0063,-0.011,0.015,-0.0099,-0.019,-3.7e+02,-0.0013,-0.0059,9.4e-05,0.0047,-0.065,-0.13,-0.11,-0.024,0.5,-0.00036,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.015,0.016,0.0086,0.049,0.05,0.039,6.2e-07,8e-07,4.4e-06,0.03,0.03,0.00035,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21290000,0.78,-0.016,-6.5e-06,-0.63,-0.0059,-0.011,0.017,-0.0099,-0.021,-3.7e+02,-0.0013,-0.0059,0.0001,0.0049,-0.065,-0.13,-0.11,-0.024,0.5,-0.00035,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.016,0.017,0.0085,0.054,0.055,0.039,6.2e-07,8e-07,4.4e-06,0.03,0.03,0.00034,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21390000,0.78,-0.016,4.3e-05,-0.63,-0.0052,-0.0064,0.016,-0.0087,-0.016,-3.7e+02,-0.0013,-0.0059,0.00011,0.0048,-0.065,-0.13,-0.11,-0.024,0.5,-0.00032,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.014,0.015,0.0084,0.046,0.047,0.039,6e-07,7.7e-07,4.4e-06,0.03,0.03,0.00033,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21490000,0.78,-0.016,3.3e-05,-0.63,-0.0059,-0.0073,0.016,-0.0098,-0.017,-3.7e+02,-0.0013,-0.0059,0.00011,0.0049,-0.065,-0.13,-0.11,-0.024,0.5,-0.00032,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.015,0.016,0.0083,0.05,0.052,0.038,5.9e-07,7.6e-07,4.4e-06,0.03,0.03,0.00033,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21590000,0.78,-0.016,7.2e-05,-0.63,-0.0045,-0.0056,0.016,-0.0082,-0.013,-3.7e+02,-0.0013,-0.0059,0.00012,0.0048,-0.065,-0.13,-0.11,-0.024,0.5,-0.00029,-0.091,-0.068,0,0,0.00036,0.00038,0.046,0.014,0.015,0.0081,0.044,0.045,0.038,5.8e-07,7.4e-07,4.3e-06,0.03,0.03,0.00032,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
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19090000,0.78,-0.016,0.00033,-0.63,-0.018,-0.024,0.0066,-0.011,-0.015,-3.7e+02,-0.0013,-0.006,-1.1e-05,0.0036,-0.063,-0.13,-0.11,-0.024,0.5,-0.00042,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.016,0.017,0.012,0.046,0.047,0.044,8.7e-07,1.1e-06,5.4e-06,0.029,0.029,0.00065,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19190000,0.78,-0.015,0.00028,-0.63,-0.015,-0.023,0.0066,-0.0074,-0.013,-3.7e+02,-0.0013,-0.006,-3.5e-06,0.0036,-0.063,-0.13,-0.11,-0.024,0.5,-0.00038,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.012,0.041,0.042,0.044,8.5e-07,1.1e-06,5.4e-06,0.029,0.029,0.00062,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19290000,0.78,-0.015,0.00028,-0.63,-0.016,-0.023,0.0094,-0.0091,-0.015,-3.7e+02,-0.0013,-0.006,-6.1e-06,0.0035,-0.063,-0.13,-0.11,-0.024,0.5,-0.0004,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.012,0.045,0.046,0.044,8.4e-07,1.1e-06,5.4e-06,0.029,0.029,0.00061,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19390000,0.78,-0.015,0.00032,-0.63,-0.015,-0.021,0.013,-0.0082,-0.013,-3.7e+02,-0.0013,-0.006,3e-06,0.0036,-0.063,-0.13,-0.11,-0.024,0.5,-0.00036,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.012,0.04,0.041,0.043,8.2e-07,1.1e-06,5.4e-06,0.029,0.029,0.00058,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19490000,0.78,-0.015,0.00027,-0.63,-0.014,-0.022,0.0095,-0.0097,-0.016,-3.7e+02,-0.0013,-0.006,7.4e-06,0.0038,-0.063,-0.13,-0.11,-0.024,0.5,-0.00034,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.011,0.044,0.045,0.043,8.1e-07,1.1e-06,5.4e-06,0.029,0.029,0.00057,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19590000,0.78,-0.015,0.00022,-0.63,-0.013,-0.021,0.0088,-0.0082,-0.014,-3.7e+02,-0.0013,-0.006,2.1e-05,0.0039,-0.063,-0.13,-0.11,-0.024,0.5,-0.0003,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.011,0.04,0.04,0.042,7.8e-07,1e-06,5.3e-06,0.029,0.029,0.00054,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19690000,0.78,-0.015,0.00021,-0.63,-0.013,-0.019,0.01,-0.009,-0.016,-3.7e+02,-0.0013,-0.006,1.8e-05,0.0038,-0.063,-0.13,-0.11,-0.024,0.5,-0.00031,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.011,0.043,0.044,0.042,7.7e-07,1e-06,5.3e-06,0.029,0.029,0.00053,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19790000,0.78,-0.015,0.00017,-0.63,-0.011,-0.017,0.011,-0.0077,-0.014,-3.7e+02,-0.0014,-0.006,2.5e-05,0.0038,-0.063,-0.13,-0.11,-0.024,0.5,-0.00028,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.011,0.039,0.039,0.042,7.6e-07,1e-06,5.3e-06,0.029,0.029,0.00051,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19890000,0.78,-0.015,0.0002,-0.63,-0.011,-0.019,0.012,-0.0093,-0.017,-3.7e+02,-0.0013,-0.006,3.2e-05,0.004,-0.063,-0.13,-0.11,-0.024,0.5,-0.00026,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.011,0.043,0.043,0.042,7.5e-07,9.9e-07,5.3e-06,0.029,0.029,0.0005,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
19990000,0.78,-0.015,0.00021,-0.63,-0.0091,-0.018,0.015,-0.0081,-0.015,-3.7e+02,-0.0013,-0.0059,4.9e-05,0.0043,-0.063,-0.13,-0.11,-0.024,0.5,-0.00021,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.013,0.015,0.01,0.038,0.039,0.041,7.3e-07,9.7e-07,5.3e-06,0.029,0.029,0.00048,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
20090000,0.78,-0.015,0.00016,-0.63,-0.0091,-0.019,0.015,-0.0088,-0.018,-3.7e+02,-0.0013,-0.0059,5.8e-05,0.0046,-0.063,-0.13,-0.11,-0.024,0.5,-0.0002,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.016,0.01,0.042,0.043,0.042,7.2e-07,9.6e-07,5.3e-06,0.029,0.029,0.00047,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
20190000,0.78,-0.015,0.00012,-0.63,-0.0096,-0.017,0.017,-0.009,-0.016,-3.7e+02,-0.0013,-0.0059,7e-05,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-0.00016,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.013,0.015,0.01,0.038,0.039,0.041,7e-07,9.3e-07,5.2e-06,0.029,0.029,0.00045,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
20290000,0.78,-0.015,0.00013,-0.63,-0.0084,-0.017,0.015,-0.0094,-0.018,-3.7e+02,-0.0013,-0.0059,7.3e-05,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-0.00016,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.016,0.0099,0.042,0.042,0.041,6.9e-07,9.3e-07,5.2e-06,0.029,0.029,0.00044,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
20390000,0.78,-0.015,0.00017,-0.63,-0.008,-0.015,0.017,-0.0092,-0.016,-3.7e+02,-0.0013,-0.0059,8.1e-05,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-0.00013,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.013,0.014,0.0097,0.038,0.038,0.041,6.8e-07,9e-07,5.2e-06,0.029,0.029,0.00043,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20490000,0.78,-0.015,0.00013,-0.63,-0.0082,-0.015,0.017,-0.01,-0.017,-3.7e+02,-0.0013,-0.0059,7.8e-05,0.0046,-0.063,-0.13,-0.11,-0.024,0.5,-0.00013,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.0096,0.041,0.042,0.041,6.7e-07,9e-07,5.2e-06,0.029,0.029,0.00042,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20590000,0.78,-0.015,0.00013,-0.63,-0.0077,-0.012,0.014,-0.0087,-0.015,-3.7e+02,-0.0013,-0.0059,8.3e-05,0.0045,-0.063,-0.13,-0.11,-0.024,0.5,-0.00011,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.013,0.014,0.0093,0.037,0.038,0.04,6.5e-07,8.7e-07,5.2e-06,0.029,0.029,0.0004,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20690000,0.78,-0.016,8.6e-05,-0.63,-0.0084,-0.013,0.015,-0.0095,-0.016,-3.7e+02,-0.0013,-0.0059,8.5e-05,0.0046,-0.063,-0.13,-0.11,-0.024,0.5,-0.00011,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.0093,0.041,0.042,0.04,6.4e-07,8.6e-07,5.2e-06,0.029,0.029,0.0004,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20790000,0.78,-0.015,6.4e-05,-0.63,-0.0061,-0.012,0.016,-0.008,-0.014,-3.7e+02,-0.0014,-0.0059,9.4e-05,0.0046,-0.063,-0.13,-0.11,-0.024,0.5,-9e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.013,0.014,0.0091,0.037,0.038,0.04,6.3e-07,8.4e-07,5.1e-06,0.029,0.029,0.00038,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20890000,0.78,-0.016,4.6e-05,-0.63,-0.0064,-0.012,0.015,-0.0085,-0.016,-3.7e+02,-0.0013,-0.0059,0.0001,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-8.4e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.009,0.041,0.041,0.04,6.2e-07,8.4e-07,5.1e-06,0.029,0.029,0.00037,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
20990000,0.78,-0.016,3.1e-05,-0.63,-0.0048,-0.0096,0.015,-0.0082,-0.016,-3.7e+02,-0.0014,-0.0059,0.0001,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-7.6e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.015,0.0088,0.043,0.044,0.039,6.1e-07,8.2e-07,5.1e-06,0.029,0.029,0.00036,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21090000,0.78,-0.016,2.5e-05,-0.63,-0.0059,-0.0093,0.016,-0.0091,-0.018,-3.7e+02,-0.0014,-0.0059,0.00011,0.0048,-0.063,-0.13,-0.11,-0.024,0.5,-6.4e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.0088,0.047,0.048,0.039,6e-07,8.1e-07,5.1e-06,0.029,0.029,0.00036,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21190000,0.78,-0.016,1.9e-05,-0.63,-0.006,-0.009,0.015,-0.0096,-0.018,-3.7e+02,-0.0013,-0.0059,0.00011,0.0047,-0.063,-0.13,-0.11,-0.024,0.5,-5.6e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.016,0.0086,0.049,0.05,0.039,5.9e-07,7.9e-07,5e-06,0.029,0.029,0.00035,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21290000,0.78,-0.016,-6.8e-05,-0.63,-0.0055,-0.0093,0.017,-0.0096,-0.02,-3.7e+02,-0.0014,-0.0059,0.00012,0.0049,-0.063,-0.13,-0.11,-0.024,0.5,-5.1e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.016,0.017,0.0085,0.053,0.055,0.039,5.9e-07,7.9e-07,5e-06,0.029,0.029,0.00034,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21390000,0.78,-0.015,-2.1e-05,-0.63,-0.0049,-0.0049,0.016,-0.0084,-0.015,-3.7e+02,-0.0014,-0.0059,0.00013,0.0048,-0.063,-0.13,-0.11,-0.024,0.5,-2.2e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.014,0.016,0.0084,0.046,0.047,0.039,5.7e-07,7.6e-07,5e-06,0.029,0.029,0.00033,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
21490000,0.78,-0.015,-3e-05,-0.63,-0.0055,-0.0057,0.016,-0.0095,-0.016,-3.7e+02,-0.0013,-0.0059,0.00013,0.0049,-0.063,-0.13,-0.11,-0.024,0.5,-1.9e-05,-0.091,-0.068,0,0,0.00035,0.00037,0.046,0.015,0.017,0.0083,0.05,0.052,0.038,5.7e-07,7.6e-07,5e-06,0.029,0.029,0.00032,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
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344 34190000,-0.27,0.016,-0.0081,0.96,0.04,0.096,-0.06,0.092,-0.021,-0.038,-0.0013,-0.0057,3e-05,0.077,-0.035,-0.12,-0.11,-0.024,0.5,0.081,-0.035,-0.067,0,0,0.00037,0.00034,0.043,0.02,0.022,0.005,0.36,0.36,0.03,2.6e-07,2.4e-07,2e-06,0.028,0.028,0.00011,0.0011,5.4e-05,0.0012,0.0011,0.00063,0.0012,1,1 34190000,-0.27,0.016,-0.0081,0.96,0.04,0.097,-0.06,0.093,-0.019,-0.038,-0.0013,-0.0057,2.4e-05,0.075,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.36,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
345 34290000,-0.26,0.016,-0.0079,0.96,0.041,0.1,-0.059,0.096,-0.012,-0.044,-0.0013,-0.0057,4e-05,0.077,-0.035,-0.12,-0.11,-0.024,0.5,0.08,-0.035,-0.066,0,0,0.00037,0.00034,0.043,0.021,0.023,0.005,0.37,0.38,0.03,2.6e-07,2.4e-07,2e-06,0.028,0.028,0.00011,0.0011,5.4e-05,0.0012,0.0011,0.00063,0.0012,1,1 34290000,-0.27,0.016,-0.0079,0.96,0.041,0.1,-0.059,0.097,-0.0092,-0.044,-0.0013,-0.0057,3.6e-05,0.075,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.042,0.021,0.023,0.005,0.37,0.38,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
346 34390000,-0.26,0.016,-0.0078,0.96,0.043,0.095,-0.054,0.091,-0.023,-0.048,-0.0013,-0.0057,3e-05,0.077,-0.034,-0.12,-0.11,-0.024,0.5,0.08,-0.035,-0.067,0,0,0.00037,0.00034,0.042,0.02,0.022,0.005,0.37,0.37,0.03,2.6e-07,2.4e-07,1.9e-06,0.028,0.028,0.00011,0.0011,5.4e-05,0.0012,0.0011,0.00062,0.0012,1,1 34390000,-0.27,0.016,-0.0078,0.96,0.043,0.096,-0.054,0.092,-0.021,-0.048,-0.0013,-0.0057,2.4e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.37,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
347 34490000,-0.26,0.016,-0.0079,0.96,0.046,0.099,-0.052,0.095,-0.014,-0.051,-0.0013,-0.0057,4.2e-05,0.077,-0.034,-0.12,-0.11,-0.024,0.5,0.08,-0.035,-0.067,0,0,0.00037,0.00034,0.042,0.021,0.023,0.005,0.38,0.39,0.03,2.6e-07,2.4e-07,1.9e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1 34490000,-0.27,0.016,-0.0079,0.96,0.045,0.1,-0.052,0.096,-0.011,-0.05,-0.0013,-0.0057,3.6e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.021,0.023,0.005,0.38,0.39,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
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@ -314,13 +314,3 @@ float EkfWrapper::getMagHeadingNoise() const
{
return _ekf_params->mag_heading_noise;
}
void EkfWrapper::enableGyroBiasEstimation()
{
_ekf_params->imu_ctrl |= static_cast<int32_t>(ImuCtrl::GyroBias);
}
void EkfWrapper::disableGyroBiasEstimation()
{
_ekf_params->imu_ctrl &= ~static_cast<int32_t>(ImuCtrl::GyroBias);
}

View File

@ -128,9 +128,6 @@ public:
float getMagHeadingNoise() const;
void enableGyroBiasEstimation();
void disableGyroBiasEstimation();
private:
std::shared_ptr<Ekf> _ekf;

View File

@ -81,10 +81,9 @@ public:
void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad)
{
// GIVEN: an initial GPS yaw, not aligned with the current one
// The yaw antenna offset has already been corrected in the driver
float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle());
float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad);
_sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement
_sensor_simulator._gps.setYaw(gps_heading);
_sensor_simulator._gps.setYawOffset(antenna_offset_rad);
// WHEN: the GPS yaw fusion is activated
@ -92,7 +91,7 @@ void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float anten
_sensor_simulator.runSeconds(5);
// THEN: the estimate is reset and stays close to the measurement
checkConvergence(gps_heading, 0.01f);
checkConvergence(gps_heading, 0.05f);
}
void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg)

View File

@ -191,32 +191,6 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest)
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate)
{
const float pitch = math::radians(30.0f);
const float roll = math::radians(-20.0f);
const Eulerf euler_angles_sim(roll, pitch, 0.0f);
const Quatf quat_sim(euler_angles_sim);
_ekf_wrapper.disableGyroBiasEstimation();
_sensor_simulator.simulateOrientation(quat_sim);
_sensor_simulator.runSeconds(_init_tilt_period);
EXPECT_TRUE(_ekf->control_status_flags().tilt_align);
initializedOrienationIsMatchingGroundTruth(quat_sim);
quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f);
velocityAndPositionCloseToZero();
positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f)
velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f);
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, gyroBias)
{
// GIVEN: a healthy filter
@ -346,7 +320,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest)
_ekf->set_vehicle_at_rest(false);
_sensor_simulator.simulateOrientation(quat_sim);
//_sensor_simulator.runSeconds(_init_tilt_period);
_sensor_simulator.runSeconds(10);
_sensor_simulator.runSeconds(7);
EXPECT_TRUE(_ekf->control_status_flags().tilt_align);

View File

@ -53,7 +53,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic("autotune_attitude_control_status", 100);
add_optional_topic("camera_capture");
add_optional_topic("camera_trigger");
add_optional_topic("can_interface_status", 10);
add_topic("cellular_status", 200);
add_topic("commander_state");
add_topic("config_overrides");
@ -164,7 +163,6 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_pos_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
add_topic("estimator_innovation_variances", 500);
@ -180,7 +178,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
@ -267,7 +264,6 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_gnss_hgt_bias");
add_topic("estimator_rng_hgt_bias");
add_topic("estimator_ev_pos_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios");
add_topic("estimator_innovation_variances");

@ -1 +1 @@
Subproject commit a3558d6b335d930fc01816fd168d16b3f38ed434
Subproject commit c4a5c497379ca873f73abe691a033641a6a5a817

View File

@ -132,7 +132,6 @@
#if !defined(CONSTRAINED_FLASH)
# include "streams/ADSB_VEHICLE.hpp"
# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
# include "streams/BATTERY_INFO.hpp"
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
@ -148,6 +147,7 @@
# include "streams/ODOMETRY.hpp"
# include "streams/SCALED_PRESSURE2.hpp"
# include "streams/SCALED_PRESSURE3.hpp"
# include "streams/SMART_BATTERY_INFO.hpp"
# include "streams/UAVIONIX_ADSB_OUT_CFG.hpp"
# include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp"
# include "streams/UTM_GLOBAL_POSITION.hpp"
@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamSysStatus>(),
#endif // SYS_STATUS_HPP
create_stream_list_item<MavlinkStreamBatteryStatus>(),
#if defined(BATTERY_INFO_HPP)
create_stream_list_item<MavlinkStreamBatteryInfo>(),
#endif // BATTERY_INFO_HPP
#if defined(SMART_BATTERY_INFO_HPP)
create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
#endif // SMART_BATTERY_INFO_HPP
#if defined(HIGHRES_IMU_HPP)
create_stream_list_item<MavlinkStreamHighresIMU>(),
#endif // HIGHRES_IMU_HPP

View File

@ -31,30 +31,30 @@
*
****************************************************************************/
#ifndef BATTERY_INFO_HPP
#define BATTERY_INFO_HPP
#ifndef SMART_BATTERY_INFO_HPP
#define SMART_BATTERY_INFO_HPP
#include <uORB/topics/battery_status.h>
class MavlinkStreamBatteryInfo : public MavlinkStream
class MavlinkStreamSmartBatteryInfo : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); }
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); }
static constexpr const char *get_name_static() { return "BATTERY_INFO"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; }
static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return size_per_battery * _battery_status_subs.advertised_count();
}
private:
explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
@ -67,50 +67,36 @@ private:
if (battery_sub.update(&battery_status)) {
if (battery_status.serial_number == 0) {
// Required to emit
// This is not smart battery
continue;
}
mavlink_battery_info_t msg{};
mavlink_smart_battery_info_t msg{};
msg.id = battery_status.id - 1;
msg.design_capacity = (float)(battery_status.capacity * 1000);
msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f;
msg.capacity_full_specification = battery_status.capacity;
msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
msg.cycle_count = battery_status.cycle_count;
if (battery_status.manufacture_date) {
uint16_t day = battery_status.manufacture_date % 32;
uint16_t month = (battery_status.manufacture_date >> 5) % 16;
uint16_t year = (80 + (battery_status.manufacture_date >> 9));
uint16_t year2dig = year % 100;
uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
//Formatted as 'ddmmyyyy' (maxed 9 chars)
snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year);
//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig,
battery_status.serial_number);
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
} else {
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
}
// Not supported by PX4 (not in battery_status uorb topic)
/*
msg.name = 0; // char[50]
msg.weight = 0;
msg.discharge_minimum_voltage = 0;
msg.charging_minimum_voltage = 0;
msg.resting_minimum_voltage = 0;
msg.charging_maximum_voltage = 0;
msg.charging_maximum_current = 0;
msg.discharge_maximum_current = 0;
msg.discharge_maximum_burst_current = 0;
msg.cells_in_series = 0;
msg.nominal_voltage = 0;
*/
//msg.device_name = ??
msg.weight = -1;
msg.discharge_minimum_voltage = -1;
msg.charging_minimum_voltage = -1;
msg.resting_minimum_voltage = -1;
mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
@ -119,4 +105,4 @@ private:
}
};
#endif // BATTERY_INFO_HPP
#endif // SMART_BATTERY_INFO_HPP

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@ -167,7 +167,6 @@ void MulticopterPositionControl::parameters_update(bool force)
Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()),
Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get()));
_control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get());
_control.decoupleHorizontalAndVecticalAcceleration(_param_mpc_acc_decouple.get());
_goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get());
_goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get());
_goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get());

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@ -146,7 +146,6 @@ private:
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air,
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte,
(ParamBool<px4::params::MPC_ACC_DECOUPLE>) _param_mpc_acc_decouple,
// Takeoff / Land
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */

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@ -204,20 +204,13 @@ void PositionControl::_velocityControl(const float dt)
void PositionControl::_accelerationControl()
{
// Assume standard acceleration due to gravity in vertical direction for attitude generation
float z_specific_force = -CONSTANTS_ONE_G;
if (!_decouple_horizontal_and_vertical_acceleration) {
// Include vertical acceleration setpoint for better horizontal acceleration tracking
z_specific_force += _acc_sp(2);
}
Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), -z_specific_force).normalized();
Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized();
ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt);
// Convert to thrust assuming hover thrust produces standard gravity
const float thrust_ned_z = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust;
// Scale thrust assuming hover thrust produces standard gravity
float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust;
// Project thrust to planned body attitude
const float cos_ned_body = (Vector3f(0, 0, 1).dot(body_z));
const float collective_thrust = math::min(thrust_ned_z / cos_ned_body, -_lim_thr_min);
collective_thrust /= (Vector3f(0, 0, 1).dot(body_z));
collective_thrust = math::min(collective_thrust, -_lim_thr_min);
_thr_sp = body_z * collective_thrust;
}

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@ -163,11 +163,6 @@ public:
*/
void resetIntegral() { _vel_int.setZero(); }
/**
* If set, the tilt setpoint is computed by assuming no vertical acceleration
*/
void decoupleHorizontalAndVecticalAcceleration(bool val) { _decouple_horizontal_and_vertical_acceleration = val; }
/**
* Get the controllers output local position setpoint
* These setpoints are the ones which were executed on including PID output and feed-forward.
@ -216,7 +211,6 @@ private:
float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation
bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint
// States
matrix::Vector3f _pos; /**< current position */

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@ -138,13 +138,3 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f);
/**
* Acceleration to tilt coupling
*
* Set to decouple tilt from vertical acceleration.
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_ACC_DECOUPLE, 1);

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@ -39,7 +39,7 @@ px4_add_module(
INCLUDES
../test
../aggregator
${PX4_BOARD_DIR}/libfc-sensor-api/inc
libfc-sensor-api/inc
SRCS
uORBAppsProtobufChannel.cpp
muorb_main.cpp

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@ -4,11 +4,3 @@ menuconfig MODULES_MUORB_APPS
depends on PLATFORM_POSIX
---help---
Enable support for muorb apps
config MUORB_APPS_SYNC_TIMESTAMP
bool "Sync timestamp with external processor"
depends on MODULES_MUORB_APPS
default y
help
causes HRT timestamp to use an externally calculated offset for synchronization

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@ -253,7 +253,6 @@ MissionBase::on_active()
updateMavlinkMission();
updateDatamanCache();
updateMissionAltAfterHomeChanged();
/* Check the mission */
if (!_mission_checked && canRunMissionFeasibility()) {
@ -1376,29 +1375,3 @@ bool MissionBase::canRunMissionFeasibility()
(_geofence_status_sub.get().geofence_id == _mission.geofence_id) &&
(_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY);
}
void MissionBase::updateMissionAltAfterHomeChanged()
{
if (_navigator->get_home_position()->update_count > _home_update_counter) {
float new_alt = get_absolute_altitude_for_item(_mission_item);
float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt;
if (_navigator->get_position_setpoint_triplet()->previous.valid
&& PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) {
_navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt +
altitude_diff;
}
_navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt +
altitude_diff;
if (_navigator->get_position_setpoint_triplet()->next.valid
&& PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) {
_navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt +
altitude_diff;
}
_navigator->set_position_setpoint_triplet_updated();
_home_update_counter = _navigator->get_home_position()->update_count;
}
}

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@ -448,16 +448,8 @@ private:
*/
bool checkMissionDataChanged(mission_s new_mission);
/**
* @brief update current mission altitude after the home position has changed.
*/
void updateMissionAltAfterHomeChanged();
bool canRunMissionFeasibility();
uint32_t _home_update_counter = 0; /**< Variable to store the previous value for home change detection.*/
bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment.
mission_item_s _last_gimbal_configure_item {};

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@ -180,19 +180,15 @@ mixer_tick()
* Run the mixers.
*/
if (source == MIX_FAILSAFE) {
// Set failsafe value if the PWM output isn't disabled
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_failsafe[i];
}
r_page_servos[i] = r_page_servo_failsafe[i];
}
} else if (source == MIX_DISARMED) {
// Set disarmed value if the PWM output isn't disabled
/* copy disarmed values to the servo outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_disarmed[i];
}
r_page_servos[i] = r_page_servo_disarmed[i];
}
}

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@ -177,10 +177,6 @@ menu "Zenoh publishers/subscribers"
bool "estimator_bias3d"
default n
config ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS
bool "estimator_event_flags"
default n
config ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
bool "estimator_gps_status"
default n
@ -874,7 +870,6 @@ config ZENOH_PUBSUB_ALL_SELECTION
select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE3D
select ZENOH_PUBSUB_ESTIMATOR_BIAS
select ZENOH_PUBSUB_ESTIMATOR_BIAS3D
select ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS
select ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
select ZENOH_PUBSUB_ESTIMATOR_INNOVATIONS
select ZENOH_PUBSUB_ESTIMATOR_SELECTOR_STATUS

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@ -50,8 +50,6 @@
#include <drivers/drv_hrt.h>
#define MAX(a,b) ((a) > (b) ? (a) : (b))
typedef struct sdb_config {
int num_runs; ///< number of runs
int run_duration; ///< duration of a single run [ms]
@ -204,7 +202,6 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)
unsigned int total_blocks = 0;
cfg->total_blocks_written = 0;
unsigned int *blocknumber = (unsigned int *)(void *)&block[0];
unsigned int max_max_write_time = 0;
for (int run = 0; run < cfg->num_runs; ++run) {
hrt_abstime start = hrt_absolute_time();
@ -248,12 +245,10 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)
total_elapsed += elapsed;
total_blocks += num_blocks;
max_max_write_time = MAX(max_max_write_time, max_write_time);
}
cfg->total_blocks_written = total_blocks;
PX4_INFO(" Avg : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.);
PX4_INFO(" Overall max write time: %i ms", max_max_write_time);
}
int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)